壁面爬行机械手结构设计【四自由度】【4张图纸】【优秀】
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壁面爬行
机械手
结构设计
自由度
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优秀
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壁面爬行机械手结构设计
32页 13000字数+说明书+开题报告+外文翻译+4张CAD图纸
A0装配图.dwg
中期.doc
壁面爬行机械手结构设计开题报告.doc
壁面爬行机械手结构设计论文.doc
外文翻译--机器人机械手.doc
手部分A3.dwg
机械臂螺栓A4.dwg
25轴A3.dwg
摘要
在当今大规模制造业中，企业为提高生产效率，保障产品质量，普遍重视生产过程的自动化程度，工业机器人作为自动化生产线上的重要成员，逐渐被企业所认同并采用。工业机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平，同时机械手可以代替人工在特殊环境工作，以完成复杂环境的工作要求。目前，工业机器人主要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极大的工作。本文将设计一台四自由度的工业机械手，用于在核废液储蓄罐内送取焊缝检测器。首先，本文将设计机械手的手爪、大臂、小臂等结构，然后计算所需数据，选择合适的传动方式、驱动方式以及连接方式。从而完成机械手整体的设计，以达到设计要求。
关键词：驱动方式；传动方式；机械手
目 录
1 绪论1
1.1 前言和意义1
1.2 工业机械手的简史1
1.3 国内外研究现状和趋势3
1.3.1国外发展现状和趋势3
1.4 本课题背景研究意义4
2 总体结构6
2.1坐标型式6
2.2驱动形式的选择7
3 手爪设计11
3.1 手部设计基本要求11
3.2 典型的手部结构12
3.3 机械手手爪的设计计算12
3.3.1选择手爪的类型及夹紧装置12
3.3.2 手爪夹持范围计算14
3.3.4滑动丝杠设计15
3.3.5 直齿轮设计17
3.3.6电机选型18
4 臂部及腕部设计20
5 结论25
6 参考文献26
致 谢27
本机械手设计参数
夹持对象：焊缝检测器，形状为矩形。
检测器最小尺寸：200*100*30 mm3重量1.0kg
检测器最大尺寸： 300*200*100 mm3重量2.0kg
机械手类型：关节坐标式
机械手总高：1000mm
机械手最大回转角度：360
机械手自由度：4 自由度
机械手可以减省工人、提高效率、降低成本、提高产品品质、安全性好。多关节机械手更具有以下优点:动作灵活、运动惯性小、通用性强、能抓取靠近机座的工件，并能绕过机体和工作机械之间的障碍物进行工作.随着生产的需要，对多关节手臂的灵活性，定位精度及作业空间等提出越来越高的要求。多关节手臂也突破了传统的概念，其关节数量可以从三个到十几个重复工作和劳动，不知疲劳，不怕危险，抓举重物的力量比人手力大的特点，甚至更多，其外形也不局限于像人的手臂，而根据不同的场合有所变化，多关节手臂的优良性能是单关节机械手所不能比拟的。机械手是在机械化，自动化生产过程中发展起来的一种新型装置。在现代生产过程中，机械手被广泛的运用于自动生产线中，机械手的研制和生产已成为高技术邻域内，迅速发展起来的一门新兴的技术，它更加促进了机械手的发展，使得机械手能更好地实现与机械化和自动化的有机结合。机械手虽然目前还不如人手那样灵活，但它具有能不断因此，机械手已受到许多部门的重视，并越来越广泛地得到了应用。我国塑料机械已成为机械制造业发展最快的行业之一，年需求量在不断的加大。因此。本课题对四自由度折叠式机械手的研究具有积极的现实意义。机械手原则设计
机械手设计总的原则有三条：一是手部尽可能覆盖较大空间；二是根据对方态势调整自身姿态；三是以最轻的自身重量达到合理的最大负载能力。
2.4自由度
机械手的设计其实是模仿人臂的功能为基础，再根据实际应用情况进行具体设计处理。人臂的肩、肘和腕关节共有六个自由度，其中大臂和腕部能做两个方向的摆动，小臂能做一个方向的摆动和有限的转动。本设计引入运载车，以使机械手能在罐内移动，可以省略其肩部和腕部的横向移动运动，故本设计只需四个自由度即可，满足课题要求。机械手工作方式如图2.2所示。
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毕业设计(论文)外文资料翻译系 别： 机电信息系 专 业： 机械设计制造及其自动化 班 级： 姓 名： 学 号： 外文出处： Manufacturing Engineering and Technology-Machining 附 件： 1. 原文； 2. 译文 2013年03月外文原文Robot manipulatorsThe industrial Robot manipulator is used in the manufacturing environment to increase productivity . It can be used to do routine and tedious assembly line jobs , or it can perform jobs that might be hazardous to do routine and tedious assembly line jobs , or it can perform jobs that might be hazardous to the human worker . For example , one of the first industrial Robot manipulators was used to replace the nuclear fuel rods in nuclear power plants . A human doing this job might be exposed to harmful amounts of radiation . The industrial Robot manipulator can also operate on the assembly line , putting together small components , such as placing electronic components on a printed circuit board . Thus , the human worker can be relieved of the routine operation of this tedious task . Robot manipulators can also be programmed to defuse bombs , to serve the handicapped , and to perform functions in numerous applications in our society .The Robot manipulator can be thought of as a machine that will move an end-of-arm tool , sensor , and gripper to a preprogrammed location . When the Robot manipulator arrives at this location , it will perform some sort of task . This task could be welding , sealing , machine loading , machine unloading , or a host of assembly jobs . Generally , this work can be accomplished without the involvement of a human being , except for programming and for turning the system on and off .The basic terminology of Robot manipulatoric systems is introduced in the following : 1. A Robot manipulator is a reprogrammable , multifunctional manipulator designed to move parts , materials , tools , or special devices through variable programmed motions for the performance of a variety of different task . This basic definition leads to other definitions , presented in the following paragraphs , that give a complete picture of a Robot manipulatoric system . 2. Preprogrammed locations are paths that the Robot manipulator must follow to accomplish work . At some of these locations , the Robot manipulator will stop and perform some operation , such as assembly of parts , spray painting , or welding . These preprogrammed locations are stored in the Robot manipulators memory and are recalled later for continuous operation . Furthermore , these preprogrammed locations , as well as other program data , can be changed later as the work requirements change . Thus , with regard to this programming feature , an industrial Robot manipulator is very much like a computer , where data can be stored and later recalled and edited .3. The manipulator is the arm of the Robot manipulator . It allows the Robot manipulator to bend , reach , and twist . This movement is provided by the manipulators axes , also called the degrees of freedom of the Robot manipulator . A Robot manipulator can have from 3 to 16 axes . The term degrees of freedom of freedom will always relate to the number of axes found on a Robot manipulator .4. The tooling and grippers are not part of the Robot manipulatoric system itself ; rather , they are attachments that fit on the end of the Robot manipulators arm . These attachments connected to the end of the Robot manipulators arm allow the Robot manipulator to lift parts , spot-weld , paint , arc-weld , drill , deburr , and do a variety of tasks , depending on what is required of the Robot manipulator .5. The Robot manipulatoric system can also control the work cell of the operating Robot manipulator . the work cell of the Robot manipulator is the total environment in which the Robot manipulator must perform its task . Included within this cell may be the controller , the Robot manipulator manipulator , a work table , safety features , or a conveyor . All the equipment that is required in order for the Robot manipulator to do its job is included in the work cell . In addition , signals from outside devices can communicate with the Robot manipulator in order to tell the Robot manipulator when it should assemble parts , pick up parts , or unload parts to a conveyor .The Robot manipulatoric system has three basic components : the manipulator , the controller , and the power source .A . Manipulator The manipulator , which does the physical work of the Robot manipulatoric system , consists of two sections : the mechanical section and the attached appendage . The manipulator also has a base to which the appendages are attached . Fig.1 illustrates the connection of the base and the appendage of a Robot manipulator .The base of the manipulator is usually fixed to the floor of the work area . Sometimes , though , the base may be movable . In this case , the base is attached to either a rail or a track , allowing the manipulator to be moved from one location to another .As mentioned previously , the appendage extends from the base of the Robot manipulator . The appendage is the arm of the Robot manipulator . It can be either a straight , movable arm or a jointed arm . the jointed arm is also known as an articulated arm .The appendages of the Robot manipulator manipulator give the manipulator its various axes of motion . These axes are attached to a fixed base , which , in turn , is secured to a mounting . This mounting ensures that the manipulator will remain in one location。At the end of the arm , a wrist is connected . The wrist is made up of additional axes and a wrist flange . The wrist flange allows the Robot manipulator user to connect different tooling to the wrist for different jobs . The manipulators axes allow it to perform work within a certain area . This area is called the work cell of the Robot manipulator , and its size corresponds to the size of the manipulator . Fig.2 illustrates the work cell of a typical assembly Robot manipulator . As the Robot manipulators physical size increases , the size of the work cell must also increase .The movement of the manipulator is controlled by actuators , or drive systems . The actuators , or drive system , allows the various axes to move within the work cell . The drive system can use electric , hydraulic , or pneumatic power . The energy developed by the drive system is converted to mechanical power by various mechanical drive systems .The drive systems are coupled through mechanical linkages .These linkages, in turn , drive the different axes of the Robot manipulator . The mechanical linkages may be composed of chains , gears ,and ball screws.B. ControllerThe controller in the Robot manipulatoric system is the heart of the operation. The controller stores preprogrammed information for later recall, control peripheral devices, and communicates with computers within the plant for constant updates in production The controllers is used to control the Robot manipulator manipulators movements as well as to control peripheral components within the work cell. The user can program the movements of the manipulator into the controller through the use of a hand-held teach pendent. This information is stored in the memory of the controller for later recall. The controller stores all program data of the Robot manipulatoric system. It can store several different programs, and any of these programs can be edited.The controller is also required to communicate with peripheral equipment within the work cell. For example, the controller has an input line that identifies when a machining operation is completed. When the machine cycle is completed, the input line turns on, telling the controller to position the manipulator so that it can pick up the finished part. Then, a new part is picked up by the manipulator and placed into the machine. Next, the controller signals the machine to start operation.The controller can be made from mechanically operated drums that step through a sequence of events. This type of controller operates with a very simple Robot manipulatoric system. The controllers found on the majority of Robot manipulatoric systems are more complex devices and represent state-of-the-art electronics. That is, they are microprocessor-operated. These microprocessors are either 8-bit, 16-bit, or 32-bit processors. This power allows the controller to be very flexible in its operation.The controller can send electric signals over communication lines that allow it to talk with the various axes of manipulator. This two-way communication between the Robot manipulator manipulator and the controller maintains a constant update of the location and the operation of the system. The controller also controls any tooling placed on the end of the Robot manipulators wrist. The controller also has the job of communicating with the different plant computers . The communication link establishes the Robot manipulator as part of a computer-assisted manufacturing (CAM) system.As the basic definition stated , the Robot manipulator is a reprogrammable , multifunctional manipulator . Therefore , the controller must contain some type of memory storage . The microprocessor-based systems operate in conjunction with solid-state memory devices . These memory devices may be magnetic bubbles , random-access memory , floppy disks , or magnetic tape . Each memory storage device stores program information for later recall or for editing .C. Power supplyThe power supply is the unit that supplies power to the controller and the manipulator . Two types of power are delivered to the Robot manipulatoric system . One type of power is the AC power for operation of the controller . The other type of power is used for driving the various axes of the manipulator . For example , if the Robot manipulator manipulator id controlled by hydraulic or pneumatic manipulator drives , control signals are sent to these devices , causing motion of the Robot manipulator .For each Robot manipulatoric system , power is required to operate the manipulator . This power can be developed from either a hydraulic power source , a pneumatic power source , or an electric power source , These power sources are part of the total components of the Robot manipulatoric work cell . 外文翻译机器人机械手工业机器人机械手是在生产环境中用以提高生产效率的工具，它能做常规乏味的装配线工作，或能做那些对于工人来说是危险的工作，例如：第一代工业机器人机械手是用来在核电站中更换核燃料棒，如果人去做这项工作，将会遭受有害射线的辐射。工业机器人机械手亦能工作在装配线上将小元件装配到一起，如将电子元件安放在电路印刷板，这样，工人就能从这项乏味的常规工作中解放出来。机器人机械手也能按程序要求用来拆除炸弹，辅助残疾人，在社会的很多应用场合下履行职能。机器人机械手可以认为是将手臂末端的工具、传感器和手爪移动到程序指定位置的一种机器。当机器人机械手到达位置后，它将执行某种任务。这些任务可以是焊接、密封、机器装料、拆装以及装配工作。除了编程以及系统的开停之外，一般来说这些工作可以在无人干预下完成。如下叙述的是机器人机械手系统基本术语：1.机器人机械手是一个可编程、多功能的机械手，通过给要完成的不同任务编制各种动作，它可以运动零件、材料、工具以及特殊装置。这个基本定义引导出后续段落的其他定义，从而描绘出一个完整的机器人机械手系统。2.预编程位置点是机器人机械手为完成工作而必须跟踪的轨迹。在某些位置点上机器人机械手将停下来做某些操作，如装配零件、喷涂油漆或者焊接。这些预编程点贮存在机器人机械手的贮存器中，并为后续的连续操作所调用，而且这些预编程点像其他程序数据一样，可在日后随工作需要而变化。因且，正是这种可编程的特征，一个工业机器人机械手很像一台计算机，数据可以在这里储存、后续调用与编辑。3.机械手是机器人机械手的手臂，它使机器人机械手能弯屈、延伸和旋转，提供这些运动的是机械手的轴，亦是所谓的机械手的自由度。一个机械人能有3-16轴，自由度一词总是与机器人机械手轴数相关。4.工具和手爪不是机器人机械手自身组成部分，但它们是安装在机器人机械手手臂末端的附件。这些连在机器人机械手手臂末端的附件可使机器人机械手抬起工件、点焊、刷漆、电焊弧、钻孔、打毛刺以及根据机器人机械手的要求去做各种各样的工作。5.机器人机械手系统还可以控制机器人机械手的工作单元，工作单元是机器人机械手执行任务所处的整体环境，该单元包括控制器、机械手、工作平台、安全保护装置或者传输装置。所有这些为保证机器人机械手完成自己任务而必需的装置都包括在这一工作单元中。另外，来自外设的信号与机器人机械手何时装配工作、取工件或放工件到传输装置上。机器人机械手系统有三个基本不见：机械手、控制器和动力源。A机械手机械手做机器人机械手系统中粗重工作，它包括两个部分：机构和附件,机械手也有联接附件基座，如下图所示一机器人机械手基座与附件之间的联接情况。机械手基座通常固定在工作区域的地基上，有时基座也可以移动，在这种情况下基座安装在导轨或者轨道上，允许机械手从一个位置移动到另外一个位置。正如前面所提到的那样，附件从机器人机械手基座上延伸出来，附件就是机器人机械手的手臂，它可以
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